nRF24

Joystick_Receiver_Slave/Joystick_Receiver_Slave.ino

+#include <SPI.h>
+#include <nRF24L01.h>
+#include <RF24.h>
+// Include servo
+#include <Servo.h>
+
+// Defines
+#define right_servo_pin 5   // Define Servo right pin
+#define left_servo_pin  6   // Define Servo left pin
+
+// Global variables
+Servo g_left_wheel;
+Servo g_right_wheel;
+
+// Define slave address and string to save received data
+const byte thisSlaveAddress[5] = {'S','t','a','r','t'};   // This is the slave address
+RF24 radio(9, 10);  // Radio pins for CS, CSN
+char dataReceived[10];  // Sent message is stored in this
+
+/**
+ * Define functions used for the robot to control
+ */
+
+// Stop the robot
+void setWheels_Stop() {
+//  g_right_wheel.write(1500);
+//  g_left_wheel.write(1500);
+  g_right_wheel.writeMicroseconds(1500);
+  g_left_wheel.writeMicroseconds(1500);
+}
+
+// Drive forward
+void setWheels_Forward(){
+  g_right_wheel.write(1300);
+  g_left_wheel.write(1700);
+}
+
+// drive right
+void setWheels_Right(){
+  g_right_wheel.write(1700);
+  g_left_wheel.write(1700);
+}
+
+// Drive left
+void setWheels_Left(){
+  g_right_wheel.write(1300);
+  g_left_wheel.write(1300);
+}
+
+// Drive backward
+void setWheels_Backward(){
+  g_right_wheel.write(1700);
+  g_left_wheel.write(1300);
+}
+
+void getData() {
+   if ( radio.available() ) {
+       radio.read( &dataReceived, sizeof(dataReceived) );
+       Serial.println(dataReceived);
+   }
+   /*else
+    Serial.println("Error!");*/
+}
+
+void setup() {
+  /* Start serial monitor */
+  Serial.begin(9600);
+
+  /* Attach servos to digital pins defined earlier */
+  g_left_wheel.attach(left_servo_pin);
+  g_right_wheel.attach(right_servo_pin);
+
+  /* Put servos to standstill */
+  //setWheels();
+
+  // Start the radio and start listening. Right now Acknowledgement is OFF.
+  radio.begin();
+  radio.setAutoAck(true);  // Acknowledgement is OFF
+  radio.setDataRate(RF24_250KBPS);  // Sets the data rate for the module, default 250kbps
+  radio.setRetries(3,5);
+  radio.openReadingPipe(1, thisSlaveAddress);
+  radio.startListening();
+}
+
+void loop() {
+  getData();
+  
+  if(strcmp(dataReceived, "Forward") == 0)  {
+    //Serial.print("Received\n");
+    Serial.print("Forward\n");
+    setWheels_Forward();
+    delay(100);
+  }
+  else if(strcmp(dataReceived, "Left") == 0) {
+    //Serial.print("Received\n");
+    Serial.print("Left\n");
+    setWheels_Left();
+    delay(100);
+  }
+  /*
+  //else if(dataReceived == "Backward") {
+  else if(strcmp(dataReceived, "Backward") == 0) {
+    //Serial.print("Received\n");
+    Serial.print("Backward\n");
+    Backward();
+    delay(100);
+  }*/
+  else if(strcmp(dataReceived, "Right") == 0) {
+    //Serial.print("Received\n");
+    Serial.print("Right\n");
+    setWheels_Right();
+    delay(100);
+  }
+  else  {
+    //Serial.print("Stop\n");
+    setWheels_Stop();
+    delay(100);
+  }
+  strcpy(dataReceived, 0);
+}

Joystick_Sender/Joystick_Sender.ino

+#include <SPI.h>
+#include <nRF24L01.h>
+#include <RF24.h>
+
+const byte slaveAddress[5] = {'S', 't', 'a', 'r', 't'};
+RF24 radio(9, 10);
+char rotation[10];
+bool sent;
+//boolean sendStatus;
+//int sendData = 1;
+
+const int X_pin = 0; // analog pin connected to X output
+const int Y_pin = 1; // analog pin connected to Y output
+
+void setup() {
+  Serial.begin(9600);
+  radio.begin();
+  radio.setAutoAck(true);
+  radio.setDataRate(RF24_250KBPS);
+  radio.setRetries(3, 5); // delay, count
+  radio.openWritingPipe(slaveAddress);
+}
+
+void loop() {
+  /*sendStatus = radio.write(&sendData, sizeof(int));
+    if(sendStatus == false) {
+    Serial.println("Data not sent!");
+    delay(500);
+    }*/
+
+  if ((analogRead(Y_pin) >= 1020 && analogRead(Y_pin) <= 1025) &&
+      (analogRead(X_pin) >= 490 && analogRead(X_pin) <= 515)) {
+    Serial.print("Forward\n");
+    strcpy(rotation, "Forward");
+    send();
+    delay(100);
+  }
+  else if ((analogRead(Y_pin) >= 220) && (analogRead(Y_pin) <= 800) &&
+           (analogRead(X_pin) <= 515) && (analogRead(X_pin) == 0))  {
+    Serial.print("Left\n");
+    strcpy(rotation, "Left");
+    send();
+    delay(100);
+  }
+  else if (((analogRead(X_pin) >= 490) && (analogRead(X_pin) <= 550)) &&
+           (analogRead(Y_pin) == 0))  {
+    Serial.print("Backward\n");
+    strcpy(rotation, "Backward");
+    send();
+    delay(100);
+  }
+  else if ((analogRead(X_pin) >= 1000) && (analogRead(X_pin) <= 1025)) {
+    Serial.print("Right\n");
+    strcpy(rotation, "Right");
+    send();
+    delay(100);
+  }
+}
+
+void send()  {
+  sent = false;
+  sent = radio.write(&rotation, sizeof(rotation));
+  Serial.print("Data Sent ");
+  Serial.println(rotation);
+  if (sent)  {
+    Serial.println("Data sent!");
+  }
+  else
+    Serial.println("Tx failed!");
+}